US10364797B2 - Partial and full load controllers of a wind turbine - Google Patents

Partial and full load controllers of a wind turbine Download PDF

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Publication number
US10364797B2
US10364797B2 US15/547,199 US201615547199A US10364797B2 US 10364797 B2 US10364797 B2 US 10364797B2 US 201615547199 A US201615547199 A US 201615547199A US 10364797 B2 US10364797 B2 US 10364797B2
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speed
generator
request
gain
wind
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US20180010577A1 (en
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Fabio CAPONETTI
Jesper Sandberg Thomsen
Jacob Deleuran GRUNNET
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Vestas Wind Systems AS
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Vestas Wind Systems AS
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Assigned to VESTAS WIND SYSTEMS A/S reassignment VESTAS WIND SYSTEMS A/S ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GRUNNET, Jacob Deleuran, Caponetti, Fabio, THOMSEN, JESPER SANDBERG
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/028—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling wind motor output power
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/022—Adjusting aerodynamic properties of the blades
    • F03D7/0224—Adjusting blade pitch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0272—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor by measures acting on the electrical generator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/0276—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor controlling rotor speed, e.g. variable speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D7/00—Controlling wind motors 
    • F03D7/02—Controlling wind motors  the wind motors having rotation axis substantially parallel to the air flow entering the rotor
    • F03D7/04—Automatic control; Regulation
    • F03D7/042—Automatic control; Regulation by means of an electrical or electronic controller
    • F03D7/043—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic
    • F03D7/046—Automatic control; Regulation by means of an electrical or electronic controller characterised by the type of control logic with learning or adaptive control, e.g. self-tuning, fuzzy logic or neural network
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03D—WIND MOTORS
    • F03D9/00—Adaptations of wind motors for special use; Combinations of wind motors with apparatus driven thereby; Wind motors specially adapted for installation in particular locations
    • F03D9/20—Wind motors characterised by the driven apparatus
    • F03D9/25—Wind motors characterised by the driven apparatus the apparatus being an electrical generator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/101—Purpose of the control system to control rotational speed (n)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/103—Purpose of the control system to affect the output of the engine
    • F05B2270/1032—Torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/103—Purpose of the control system to affect the output of the engine
    • F05B2270/1033—Power (if explicitly mentioned)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/10—Purpose of the control system
    • F05B2270/20—Purpose of the control system to optimise the performance of a machine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
    • F05B2270/00—Control
    • F05B2270/30—Control parameters, e.g. input parameters
    • F05B2270/327—Rotor or generator speeds
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction
    • Y02E10/723—

Definitions

  • the invention relates to control of wind turbines, particularly to partial and full load controllers of a wind turbine.
  • Wind turbine generators may comprise partial and full load controllers for determining pitch and power references for the pitch actuators and the power generator, respectively.
  • the objective for the partial load controller which is selected for wind speed below a rated wind speed, is to optimise power production from a given available amount of wind energy.
  • the objective for the full load controller which is selected for wind speed above the rated wind speed, is to produce the nominal power of the wind turbine generator.
  • Switching between the partial and full load controllers is required as the wind velocity changes between wind velocities below and above the rated wind speed. Such switching may have undesirable effects on structural loads, utilisation of the wind energy and other operating conditions of the wind turbine generator.
  • a method for controlling a wind turbine wherein the wind turbine comprises a rotor with at least one blade having a pitch angle which is controllable dependent on a pitch request, and a power generator connected to the rotor, the power generator having a power production which is controllable dependent on a generator request, wherein a generator speed of the generator is controllable via the pitch request and the generator request, the method comprises
  • both the generator request and the pitch request and gains for the first and second speed errors it becomes possible to continuously control the generator speed by updating both the generator request and the pitch request for wind speed above and below the rated wind speed. Since both the generator request and the pitch request are adapted dependent on the variable gains and the adjusted first and second errors, it is not necessary to switch between determining the generator request for wind speed below rated wind speed and the pitch request for wind speed above the rated wind speed.
  • the determination of the first speed modification performed so that the generator speed approaches the generator speed reference for wind speeds below a rated wind speed may be performed by setting or determining the first speed modification to a small value, e.g. zero or close to zero.
  • the determination of the first speed modification performed so that the generator request approaches the maximum generator request, i.e. the saturation limit of the partial load controller, may be performed by modifying the first generator speed error, i.e. reducing or increasing the first generator speed error into non-zero values, for wind speeds above the rated wind speed.
  • the modification of the speed error may be performed by modifying the first generator speed reference by the first speed modification value, e.g. by adding the modified first speed modification value to the first generator speed reference.
  • the partial load controller saturation limit is a limit which limits the output from the partial load controller which determines the generator request.
  • the determination of the second speed modification performed so that the generator speed approaches the generator speed reference for wind speeds above rated wind speed may be performed by setting or determining the first speed modification to a small value, e.g. zero or close to zero.
  • the determination of the second speed modification performed so that the pitch request approaches the minimum pitch request may be performed by modifying the second generator speed error, i.e. reducing or increasing the error speed into non-zero values, for wind speeds above the rated wind speed.
  • the modification of the speed error may be performed by modifying the second generator speed reference by the second speed modification value, e.g. by adding the modified second speed modification value to the second generator speed reference.
  • the full load controller saturation limit is a limit which limits the output from the full load controller which determines the pitch request.
  • the method comprises controlling the generator speed by determining the generator request, the pitch request and the first and second gains for wind speeds below, above and at the rated wind speed.
  • the method may further comprise determining the first and second speed modifications.
  • the first and second gains are determined so that the sum of the first and second gains are substantially constant over a range of wind speeds comprising the rated wind speed.
  • the first and second gains are determined so that the sum of the first and second gains are substantially constant over a range of wind speeds extending from a cut-in wind speed to a cut-out wind speed, wherein the range comprises the rated wind speed.
  • the criteria that the sum of the gains should be constant it may be ensured that the combined control action from the partial and full load controllers is constant. At relative large and low wind speeds, e.g. in complete full or partial load, the sum of the gains may be allowed to be larger than near the rated wind speed without causing controller instability.
  • the first gain and/or the second gain are determined dependent on a difference between an actual pitch and the pitch reference. Since the actual pitch is normally close to the pitch reference during partial load this can be utilised for determining the gains, e.g. by setting the first gain to a relatively large value (larger than the value of the second gain) when the pitch difference is small, or by determining the gains as a function of the pitch difference.
  • the first gain and/or the second gain are determined dependent on a difference between an actual power and the power reference. Since the actual power is normally close to the power reference during full load this can be utilised for determining the gains, e.g. setting the second gain to a relatively large value (larger than the value of the first gain) when the power difference is small, or by determining the gains as a function of the power difference.
  • the first speed modification is determined dependent on a difference between an actual pitch and the pitch reference. By determining the first speed modification in this way the first speed modification is gradually increased (or decreased) as the pitch difference increases, i.e. when the wind turbine enters full load operation.
  • the second speed modification is determined dependent on a difference between an actual power and the power reference. Accordingly, the second speed modification is gradually increased (or decreased) As the power difference increases, i.e. when the wind turbine enters partial load operation.
  • the first generator speed error is determined dependent on a first modified generator speed reference and the generator speed, wherein the first modified generator speed reference is determined by addition of the first speed modification to the generator speed reference.
  • the second generator speed error is determined dependent on a second modified generator speed reference and the generator speed, wherein the second modified generator speed reference is determined by addition of the second speed modification to the generator speed reference.
  • a second aspect of the invention relates to a control system for controlling a wind turbine, wherein the wind turbine comprises a rotor with at least one blade having a pitch which is controllable dependent on a pitch reference, and a power generator connected to the rotor, the power generator having a power production which is controllable dependent on a generator reference, wherein a generator speed of the rotor is controllable via the pitch reference and the generator reference, the control system comprises,
  • a third aspect of the invention relates to a wind turbine comprising the control system according to the second aspect.
  • FIG. 1 illustrates a wind turbine
  • FIG. 2 shows a control system for a wind turbine
  • FIG. 3 shows variations of pitch, generator speed and produced power in partial and full load regions
  • FIG. 4 shows an alternative control system for a wind turbine
  • FIG. 5 shows an example of the variable gains for a control system
  • FIG. 6 shows an example of predetermined first and second speed modifications functions
  • FIG. 7 illustrates principally how the variable gains could be determined dependent on the pitch and power differences.
  • FIG. 1 shows a wind turbine 100 comprising a tower 101 and a rotor 102 with at least one rotor blade 103 .
  • the rotor is connected to a nacelle 104 which is mounted on top of the tower 101 .
  • the rotor is adapted to drive a power generator situated inside the nacelle.
  • the rotor 102 is rotatable by action of the wind.
  • the wind induced rotational energy of the rotor blades 103 is transferred via a shaft to the generator.
  • the wind turbine 100 is capable of converting kinetic energy of the wind into mechanical energy by means of the rotor blades and, subsequently, into electric power by means of the generator.
  • the wind turbine 100 may also be referred to with the common abbreviation WTG (Wind Turbine Generator).
  • the pitch angle of the blades 103 is controllable dependent on a pitch request.
  • the aero-dynamic efficiency of the rotor, and thereby, the generator speed and power production can be adjusted by changing the pitch angle.
  • the power production of the power generator is also controllable dependent on a generator request to the power generator.
  • the generator request may be in the form of a power request or a torque request which sets the desired amount of power to be produced by the generator.
  • the generator speed of the generator and thereby the power production can be adjusted by adjusting the pitch request, the generator request or both.
  • FIG. 2 shows a control system 200 for a wind turbine 100 .
  • the control system is configured with a partial load controller 203 which determines the generator request Preq and a full load controller 204 which determines the pitch request ⁇ req dependent on a difference between a generator speed reference ⁇ ref, e.g. the optimum generator speed ⁇ opt or the rated generator speed ⁇ rated, and a measured generator speed ⁇ m.
  • the full load controller 204 may additionally receive a pitch reference ⁇ ref.
  • the generator request Preq is supplied to the power generator 207 .
  • the power generator may contain a generator controller which receives the generator request Preq and controls the generator to produce the requested power Preq. Accordingly, the power generator may be defined as a power generator system containing the generator controller, the generator and other units and configured to produce power according to the requested amount.
  • the pitch request ⁇ req is supplied to the pitch system 208 which performs pitch adjustment of the blades 103 .
  • the pitch system may contain a pitch controller with receives the pitch request ⁇ req and controls the pitch actuators to set the pitch to the requested pitch.
  • the partial load state is characterised in that the wind speed v is not high enough to enable generation of the nominal or rated electrical power from the generator.
  • the pitch ⁇ and the rotor speed are controlled to optimize aerodynamic efficiency of the wind turbine 100 .
  • the rotor speed and the generator speed ⁇ r are linked by the gear ratio of the gear connecting the rotor with the generator shaft.
  • the pitch ⁇ only varies little in the partial load state as a function of wind speed and may be set to the optimum pitch ⁇ opt which maximises the aero-dynamic efficiency of the rotor.
  • the generator speed ⁇ r may be controlled to extract as much power as possible by tracking the desired generator speed ⁇ ref.
  • the generator speed ⁇ r is controlled via the generator request Preq which affects generator torque.
  • the partial load controller 203 calculates the generator request Preq (i.e. a power or torque set point for the power generator 207 ) that that minimises the difference between the generator speed reference ⁇ ref and the measured generator speed ⁇ m.
  • Preq i.e. a power or torque set point for the power generator 207
  • the full load state is characterised in that the wind speed v is high enough to enable generation of the nominal or rated electrical power. Therefore, the generator speed and generator power may be controlled to achieve a power production close to the nominal power. This is achieved by setting the generator reference ⁇ ref to the rated generator speed ⁇ rated. In the full load state the rotor speed ⁇ r is controlled via the pitch ⁇ so as to achieve a controlled, e.g. substantially constant, extraction of wind energy by the blades.
  • the full load controller 204 calculates the pitch request ⁇ req that minimises the difference between generator speed reference ⁇ ref (here the ⁇ rated or a de-rated generator speed) and the measured generator speed ⁇ m.
  • the full load controller may be configured to set the pitch request ⁇ req to the pitch reference ⁇ ref, e.g. the optimum pitch ⁇ opt. During full load the input ⁇ ref to the full load controller 204 may be ignored.
  • the desired generator speed ⁇ ref may be determined by a speed calculator 201 dependent on the estimated or measured wind speed energy content of the wind v and predetermined aerodynamic characteristics of the blades.
  • the desired pitch ⁇ ref may be determined by a pitch calculator 202 dependent on the estimated or measured wind speed energy content of the wind v, other predetermined aerodynamic characteristics of the blades and possibly the rotor speed ⁇ r.
  • a shift between the partial load control and full load control may be invoked when the desired amount of electrical energy production is greater or smaller than the energy content of the wind.
  • a shift between the partial load control and full load control may be invoked when the wind velocity v, passes a given threshold, e.g. given by the rated wind speed, vrated.
  • the switch 205 determines which of the partial load controller 203 or the full load controller 204 should be active, e.g. by comparing the desired amount energy production with the energy content of the wind.
  • the switching between the partial and full load controllers may cause undesirable or non-smooth changes in different operating parameters of the WTG.
  • a switching between partial and full load states may cause over-speed of the rotor, undesirable tower loads, undesirable blade loads and high pitch system requirements due to high pitch speed.
  • FIG. 3 shows regions of partial and full load as well as variations of pitch ( ⁇ ), generator speed ( ⁇ r) and produced power (P) as a function of wind speed v.
  • the partial load occurs from cut-in wind speed (here 5 m/s but could be different) and until rated wind speed (here 13 m/s). In this region the turbine produces as much power as is possible with the available wind.
  • Full load occurs from rated wind speed and until cut-out wind speed. In this region the turbine produces rated power (e.g. 3 MW).
  • the generator speed may be ramped up from cut-in wind speed until maximum is reached at some wind speed (here at 9 m/s).
  • the optimum pitch ⁇ opt is almost constant for wind speed above 5 m/s and up to rated wind speed.
  • the pitch request ⁇ ref may be set to follow the optimum pitch during partial load.
  • FIG. 4 shows a control system 400 for a wind turbine.
  • the control system 400 comprises a partial load controller 403 and a full load controller 404 configured to determine the generator request Preq and the pitch request ⁇ req for controlling the generator speed ⁇ r during partial and full load modes. Contrary to the control system 200 , the control system 400 is configured so that the partial and full load controllers 403 , 404 are operated continuously in both partial and full load without any switching between the controllers as the wind velocity increases or decreases beyond the rated wind speed.
  • the control system 400 comprises a partial load speed error calculation unit 401 configured to determine a first generator speed error e 1 ⁇ dependent on a the desired generator speed reference ⁇ ref (e.g. the optimum generator speed ⁇ opt), the generator speed ⁇ m and a first speed modification ⁇ PLC.
  • the first generator speed error e 1 ⁇ is supplied to the partial load controller 403 configured to determine the generator request Preq by minimizing the first generator speed error e 1 ⁇ .
  • the function for minimizing the speed error may be embodied by a PI controller, or other controller types, comprised by a first controller component 411 of the partial load controller 403 .
  • the generator speed ⁇ m is the actual or measured generator speed.
  • the partial load controller 403 further comprises a first amplitude limiter 412 configured to limit the maximum output from the first controller component 411 to a maximum generator request Pmax, e.g. to a maximum rated generator power Prated or a maximum derated power Pderated, and to limit the minimum output from the first controller component 411 to zero.
  • the limits of the limiter 412 are also referred to as saturation limits. Accordingly, the maximum generator request is a partial load controller saturation limit.
  • the first speed modification ⁇ PLC is determined so that the generator speed ⁇ m approaches the generator speed reference ⁇ ref for wind speeds below a rated wind speed, and so that the generator speed reference ⁇ ref (and thereby the first generator speed error e 1 ⁇ ) is reduced for wind speeds above the rated wind speed.
  • the controller component will increase the outputted generator request Preq in an attempt to lower the measured generator speed ⁇ m so as to increase the error e 1 ⁇ (e.g. back to zero). Since the output from the first controller component 411 is limited to a maximum generator reference Pmax by the first amplitude limiter 412 , the determined generator request Preq will approach the maximum generator reference Pmax for wind speeds above the rated wind speed.
  • the control system 400 further comprises a full load speed error calculation unit 402 configured to determine a second generator speed error e 2 ⁇ determined on the generator speed reference ⁇ ref, the generator speed ⁇ m and a second speed modification ⁇ FLC.
  • the second generator speed error e 2 ⁇ is supplied to the full load controller 404 configured to determine the pitch request ⁇ req by minimizing the second generator speed error e 2 ⁇ .
  • the function for minimizing the speed error may be embodied by a PI controller comprised by a second controller component 421 of the full load controller 404 .
  • the full load controller 404 further comprises a second amplitude limiter 422 configured to limit the maximum output from the second controller component 421 to a maximum pitch request ⁇ max, and to limit the minimum output from the second controller component 421 to a minimum pitch request ⁇ min, e.g. the optimum pitch request ⁇ opt.
  • the lower limit ⁇ min may be a fixed value, or the lower limit ⁇ min may be adjusted continuously or regularly to equal the desired pitch ⁇ ref, e.g. as determined by the pitch calculator 202 .
  • the limits of the limiter 422 are also referred to as saturation limits. Accordingly, the minimum pitch request ⁇ min is referred to as a full load controller saturation limit.
  • the second speed modification ⁇ FLC is determined so that the generator speed ⁇ m approaches the generator speed reference ⁇ ref for wind speeds above the rated wind speed, and so that generator speed reference ⁇ ref and, thereby, the second generator speed error e 2 ⁇ is increased for wind speeds below the rated wind speed.
  • the second controller component 421 will decrease the outputted pitch request ( ⁇ req) in an attempt to increase the measured generator speed ⁇ m so as to decrease the second error e 2 ⁇ (e.g. back to zero). Since the output from the second controller component 421 is limited to a minimum pitch request ⁇ min by the second amplitude limiter 422 , the determined pitch request ⁇ req will approach the minimum pitch ⁇ min for wind speeds below the rated wind speed vrated.
  • the partial load controller 403 is configured to amplify the first speed error e 1 ⁇ by a variable first gain G 1 .
  • the variable gain G 1 may be the proportional gain in a PI controller comprised by the first controller component 411 .
  • the full load controller 404 is configured to amplify the first speed error e 2 ⁇ by a variable second gain G 2 .
  • the gain G 2 may similarly be the proportional gain in a PI controller comprised by the second controller component 421 .
  • the control system 400 e.g. a gain scheduler 410 , is configured to determine the variable first and second gains G 1 , G 2 so that the first gain G 1 is greater than the second gain G 2 at least for some for wind speeds below the rated wind speed, so that the first gain G 1 is smaller than the second gain G 2 at least for some wind speeds above rated wind speed, and so that the first gain G 1 is equal to the second gain G 2 at least for a single wind speed in the proximity of the rated wind speed.
  • the partial load speed error calculation unit 401 may be configured to determine the first generator speed error e 1 ⁇ dependent on a first modified generator speed reference ⁇ _refPLC and the generator speed ⁇ m, e.g. by subtracting ⁇ m from ⁇ _refPLC.
  • the first modified generator speed reference may be determined by addition (or subtracting depending on the sign of ⁇ PLC) of the first speed modification ⁇ PLC to the generator speed reference ⁇ ref.
  • the speed error e 1 ⁇ could equivalently be determined by adding (or subtracting) ⁇ PLC from ⁇ m and subtracting this signal from ⁇ ref.
  • the full load speed error calculation unit 401 may be configured to determine the second generator speed error e 2 ⁇ dependent on a second modified generator speed reference ⁇ _refFLC and the generator speed ⁇ m, where the second modified generator speed reference may be determined by addition of the second speed modification ⁇ FLC to the generator speed reference ⁇ ref.
  • the alternatives mentions for determining the first generator speed error e 1 ⁇ applies equivalently to the determination of e 2 ⁇ .
  • FIG. 5 shows an example of the first and second gains G 1 , G 2 as a function of wind speed v.
  • the first and second gains G 1 , G 2 may be determined so that the sum of the first and second gains are substantially constant, e.g. equal to one, over a range of wind speeds comprising the rated wind speed, and possibly extending from a cut-in wind speed to a cut-out wind speed.
  • the sum of gains may be restricted to a maximum constant value over a range of wind speeds in the vicinity of the rated wind speed, e.g. over a range extending from (vrated-0.1 times vrated) to (vrated+0.1 times vrated).
  • the first gain G 1 is equal to the second gain G 2 , e.g. equal to 0.5.
  • Values of the first and second gains G 1 , G 2 as a function of wind speed may be given according to predetermined curves as shown in FIG. 5 , i.e. from functions or a look-up tables which provides predetermined gain values (G 1 , G 2 ) as a function of wind speed.
  • the values of the first and second gains G 1 , G 2 may be determined dependent on other operational parameters of the wind turbine.
  • a gain scheduler 410 comprised by the control system 400 may be provided for determination of the variable gains G 1 , G 2 whether they are determined dependent on wind speed or other operational parameters (described below).
  • the gain scheduler 410 may be configured to determine the variable first and second gains G 1 , G 2 so that the first gain G 1 is greater than the second gain G 2 for wind speeds above below the rated wind speed, so that the first gain G 1 is smaller than the second gain G 2 for wind speeds above rated wind speed, and so that the first gain G 1 is equal to the second gain G 2 at the rated wind speed. Additionally, the gain scheduler 410 may be configured to determine the gains G 1 , G 2 so that the sum of the first and second gains constant, or substantially constant, over a range of wind speeds comprising the rated wind speed.
  • the illustrated gain curves for G 1 and G 2 may have other shapes than illustrated in FIG. 5 .
  • the slopes of the curves closest to vrated may be more or less steep.
  • the slopes of the curves further distanced from vrated may also have other slopes, including generally flat (zero slope) portions.
  • the curves may be smooth curves as shown, but could also be made from piecewise linear curve elements. In general the curves should be continuous.
  • the partial load controller 403 has a dominating control action since the gain of the full load controller is low.
  • the full load controller 404 has a dominating control action since the gain of the partial load controller is low.
  • a purpose of the first speed modification ⁇ PLC is to ensure that the generator request Preq is driven towards the maximum generator reference Pmax for wind speed increasing above the rated wind speed.
  • Pmax may be set to a fixed Prated or Pderated. In this way, the power generator 207 is controlled to limit the power production to Pmax during full load.
  • a purpose of the second speed modification ⁇ FLC is to ensure that the pitch request ⁇ req is driven towards the minimum pitch ⁇ min, e.g. the optimum pitch ⁇ opt, for wind speed decreasing below the rated wind speed. In this way, the pitch system is controlled to be as extract as much wind power as possible during partial load.
  • a purpose of the first and second gains G 1 , G 2 is to ensure a weighted distribution of the control actions of the partial and full load controllers 403 , 404 for wind speeds around the rated wind speed, i.e. for wind speeds in a range above and below the rated wind speed.
  • Values of the first and second speed modifications ⁇ PLC, ⁇ FLC may be given according to predetermined functions or look-up table providing values for the speed modifications ⁇ PLC, ⁇ FLC as a function of wind speed.
  • FIG. 6 shows an example of predetermined first and second speed modifications functions ⁇ PLC, ⁇ FLC.
  • the illustrated gain curves for ⁇ PLC and ⁇ FLC may have other shapes than illustrated in FIG. 6 .
  • the slopes of the curves closest to vrated may be more or less steep.
  • the slopes of the curves further distanced from vrated may also have other slopes, including generally flat (zero slope) portions.
  • the curves may be smooth curves as shown, but could also be made from piecewise linear curve elements. In general the curves should be continuous.
  • the first and second speed modification values ⁇ PLC, ⁇ FLC may be determined dependent on operational parameters of the wind turbine.
  • control system 400 comprises first and second speed modification calculation units 405 , 406 .
  • the first speed modification calculation unit 405 is configured for determining the first speed modification ⁇ PLC dependent on a difference between an actual pitch ⁇ m, e.g. the requested pitch ⁇ req, and the pitch reference ⁇ ref. Accordingly, in partial load where the requested pitch ⁇ req may be equal to the pitch reference ⁇ ref, the first speed modification ⁇ PLC may be equal or close to zero. In full load where the requested pitch is larger than the optimum pitch in order to reduce the aero dynamic efficiency, values of the first speed modification ⁇ PLC becomes negative.
  • the second speed modification calculation unit 406 is configured for determining the second speed modification ⁇ FLC dependent on a difference between an actual power, e.g. the requested power Preq, and the power reference Pref, e.g. the rated or de-rated power reference Prated, Pderated. Accordingly, in partial load where the requested power Preq is smaller than the rated or de-rated power reference, values of the second speed modification ⁇ FLC becomes positive. In full load where the requested power Preq may be equal to Prated or Pderated, the second speed modification ⁇ FLC may be equal or close to zero.
  • the gains Kpl and Kfl has a constant positive values. However, they could also have constant negative values.
  • first and second speed modification calculation units 405 , 406 may also embody functions for determining values of the first and second speed modifications ⁇ PLC, ⁇ FLC from predetermined functions or look-up tables as a function of wind speed.
  • the gain scheduler may be configured to determine the first gain G 1 or the second gain G 2 dependent on a difference between the actual pitch ⁇ m, e.g. the requested pitch ⁇ req, and the pitch reference ⁇ ref.
  • the first gain G 1 or the second gain G 2 may be determined dependent on a difference between the actual power Pm, e.g. the requested power Preq, and the power reference Pref, e.g. Prated.
  • FIG. 7 illustrates principally how the gains G 1 , G 2 could be determined dependent on the pitch and power differences as described above.
  • Curves 701 and 702 illustrate typical values for actual pitch ⁇ m and power Pm values, respectively, dependent on wind speed v. Pitch ⁇ a and power Pa have been measured at a wind speed va.
  • the gains G 1 and G 2 may be determined based on the assumption of full mode operation and based on the distances D 1 and D 2 by assigning predetermined values to the gains G 1 and G 2 . Since D 1 is large a relatively small value may be assigned to G 1 and since D 2 is small (compared to D 1 ) a relatively large value may be assigned to G 2 .
  • the gain values G 1 , G 2 may be given by predetermined gain values dependent on the distances D 1 , D 2 and provided via a look-up table or similar.
  • equations 1-5 below provides a method for determining the gains G 1 and G 2 based on ⁇ PLC and ⁇ FLC, i.e. based on pitch values ⁇ req and ⁇ ref, and power values Preq and Pref.
  • G 1 is equal to Glow when R(k) is lower than or equal to Glow, equal to R(k) when R(k) is greater than Glow and smaller than Gup and equal to Gup when R(k) is greater than or equal to Gup.
  • G 2 is given by 1 ⁇ G 1 .
  • equations 6-8 an alternative method for determining R(k) based on ⁇ PLC and ⁇ FLC for use in equations 1-5 can be provided by equations 6-8:
  • ⁇ lowPLC and ⁇ upPLC are lower and upper limits for ⁇ PLC and ⁇ lowFLC and ⁇ upFLC are lower and upper limits for ⁇ FLC.
  • RPLC(k)+RFLC(k) is equal to one for all values of k.
  • Equation 6-8 An example is described applying to equations 6-8 wherein the wind conditions should cause operation of a wind turbine in partial load.
  • ⁇ PLC should be equal to ⁇ lowPLC as the wind pitch request
  • ⁇ req should be equal to ⁇ opt. Since the distance from rated power is big ⁇ FLC should be saturated to its upper limit ⁇ upFLC which causes an artificial power error e 2 ⁇ . Thereby the full load controller 404 sees the generator speed ⁇ m as low compared to the reference ⁇ _refFLC and reacts by increasing the pitch. However, as the limit ⁇ max cannot be exceeded, ⁇ req will converge to ⁇ max.
  • control authority should be given to the partial load controller 403 , while the gain of the full load controller 404 should be reduced to increase stability margins.
  • G 1 should have the value Gup, e.g. 0.9. From eq. 5 if follows that G 2 will equal 0.1.
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EP3647587A1 (de) * 2018-11-01 2020-05-06 Wobben Properties GmbH Verfahren zum steuern einer windturbine und entsprechende windturbine
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US20180010577A1 (en) 2018-01-11
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WO2016119791A1 (en) 2016-08-04
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